Thank you so much for the suggestion.
I followed below steps if anyone run into the same problem:
Go to Preferences → Maintenance → Print head → Print core cleaning
After this, I didn't follow any further steps of core cleaning instead I just let the nozzle heat up. Once the nozzle heated, I wrapped a cloth on a screw-driver and wiped all the melted filament and properly cleaned the nozzle. And, that's it!
I was actually looking for a separate maintenance option for heating up the nozzle but I didn't know that we can heat-up the nozzle by simply following the core-cleaning steps.
The best way to remove it is to manually heat the nozzle, start the temp low so the filament is firm on outside but pliable on the heater block. This helps it pull off cleaner. then using some long nose pliers pull the bulk of the filament off. You can then heat it more so it's liquid then wipe it with a rag.
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